CN112631268A - Method and device for dispatching robots - Google Patents
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Abstract
The invention discloses a method and a device for dispatching robots, and relates to the technical field of computers. One embodiment of the method comprises: acquiring unallocated tasks and determining the association between the unallocated tasks; when the robot finishes the current task, acquiring the task state of the robot; wherein the task state is determined based on the current task; if the task state of the robot is pre-occupied, the robot is scheduled to execute the next task; and if the task state of the robot is idle, distributing the next task for the robot based on the association between the unallocated tasks. This embodiment can optimize the dispatch order, guarantees the storage work continuity of robot to improve the work efficiency of robot, and then work efficiency in the improvement storage.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method and a device for dispatching a robot.
Background
With the rapid development of artificial intelligence, the unmanned warehousing technology is growing up. In the unmanned warehousing technology, robots such as an Automatic Guided Vehicle (AGV), a Rail Guided Vehicle (RGV) or an unmanned forklift are mostly used for participating in warehousing work, the robots are enabled to automatically work through a scheduling system, and the scheduling of the robots is extremely complex.
At present, the warehousing work which the robot participates in mainly includes boxing, transporting, unloading and the like, and the warehousing work is related, for example, the work stations often need to transport goods, and after the robot transports the goods to a certain work station, the robot transports the goods from the work station to other work stations.
When the existing dispatching system dispatches robots, the robots are mainly dispatched based on regional planning, and one warehousing work can dispatch any robot, namely the robot can be assigned with other unrelated warehousing work after completing one warehousing work, for example, when a certain workstation receives goods sent by the robot, other goods need to be carried away, and the two transports can be completed by two robots.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:
in the prior art, the association between warehousing works is ignored, the warehousing work of the robot lacks continuity, scheduling confusion is caused, the on-way idle time of the robot is increased, and the working efficiency is reduced.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for scheduling a robot, which can optimize a scheduling order and ensure the continuity of warehousing work of the robot, thereby improving the working efficiency of the robot and further improving the working efficiency in warehousing.
To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a method of scheduling a robot.
The method for dispatching the robot in the embodiment of the invention comprises the following steps: acquiring unallocated tasks and determining the association between the unallocated tasks;
when the robot finishes the current task, acquiring the task state of the robot; wherein the task state is determined based on the current task;
if the task state of the robot is pre-occupied, the robot is scheduled to execute the next task;
and if the task state of the robot is idle, distributing the next task for the robot based on the association between the unallocated tasks.
Optionally, the next task comprises a parking task, a boxing task, a transporting task or a discharging task; and the method further comprises: if the robot executes the parking task, updating the task state of the robot to be idle; if the robot executes the boxing task, issuing a reaching prompt instruction to the robot when the robot reaches a boxing point, and updating the task state of the robot to be pre-occupied when boxing is finished; if the robot executes the carrying task, issuing a reaching prompt instruction to the robot when the robot reaches a destination point, and updating the task state of the robot to be pre-occupied when carrying is completed; and if the robot executes the unloading task, issuing an arrival prompt instruction to the robot when the robot arrives at an unloading point, and updating the task state of the robot to be idle or pre-occupied when unloading is finished.
Optionally, the next task further comprises a charging task; and the method further comprises: acquiring the residual electric quantity of the robot at a preset frequency; when the residual electric quantity is smaller than or equal to a preset value, distributing the charging task for the robot, simultaneously sending a charging point identifier to the robot, and updating the task state of the robot into charging; and when the robot finishes charging, updating the task state of the robot to be idle or pre-occupied.
Optionally, the next task further comprises a cache bit removal task, and the method further comprises: and when the robot cannot enter the roadway, allocating the cache bit removal task for the robot, and updating the task state of the robot into pre-occupation.
Optionally, the method further comprises: carrying out traffic management before the robot executes the next task; the traffic management comprises the steps of releasing occupied roadways, releasing occupied parking spaces, releasing occupied cache positions, releasing occupied unloading points, and allocating parking spaces or cache positions.
To achieve the above object, according to another aspect of the embodiments of the present invention, there is provided an apparatus for scheduling a robot.
The device for dispatching the robot in the embodiment of the invention comprises: the correlation module is used for acquiring the unallocated tasks and determining the correlation between the unallocated tasks; the acquisition module is used for acquiring the task state of the robot when the robot finishes the current task; wherein the task state is determined based on the current task; the scheduling module is used for scheduling the robot to execute the next task when the task state of the robot is pre-occupied; and the allocation module is used for allocating the next task to the robot based on the association between the unallocated tasks when the task state of the robot is idle.
Optionally, the next task comprises a parking task, a boxing task, a transporting task or a discharging task; and the apparatus further comprises a first update module to: when the robot executes the parking task, updating the task state of the robot to be idle; when the robot executes the boxing task, issuing a reaching prompt instruction to the robot when the robot reaches a boxing point, and updating the task state of the robot to be pre-occupied when boxing is finished; when the robot executes the carrying task, issuing a reaching prompt instruction to the robot when the robot reaches a destination point, and updating the task state of the robot into pre-occupation when carrying is completed; and when the robot executes the unloading task, issuing an arrival prompt instruction to the robot when the robot arrives at the unloading point, and updating the task state of the robot to be idle or pre-occupied when unloading is finished.
Optionally, the next task further comprises a charging task; and the apparatus further comprises a second update module to: acquiring the residual electric quantity of the robot at a preset frequency; when the residual electric quantity is smaller than or equal to a preset value, distributing the charging task for the robot, simultaneously sending a charging point identifier to the robot, and updating the task state of the robot into charging; and when the robot finishes charging, updating the task state of the robot to be idle or pre-occupied.
Optionally, the next task further includes a cache bit removal task, and the apparatus further includes a third update module, configured to: and when the robot cannot enter the roadway, allocating the cache bit removal task for the robot, and updating the task state of the robot into pre-occupation.
Optionally, the apparatus further comprises a request module configured to: carrying out traffic management before the robot executes the next task; the traffic management comprises the steps of releasing occupied roadways, releasing occupied parking spaces, releasing occupied cache positions, releasing occupied unloading points, and allocating parking spaces or cache positions.
To achieve the above object, according to still another aspect of embodiments of the present invention, there is provided an electronic device for scheduling a robot.
An electronic device of a scheduling robot according to an embodiment of the present invention includes: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement a method of scheduling robots of an embodiment of the present invention.
To achieve the above object, according to still another aspect of embodiments of the present invention, there is provided a computer-readable storage medium.
A computer-readable storage medium of an embodiment of the present invention has stored thereon a computer program that, when executed by a processor, implements a method of scheduling robots of an embodiment of the present invention.
One embodiment of the above invention has the following advantages or benefits: acquiring unallocated tasks and determining the association between the unallocated tasks; when the robot finishes the current task, acquiring the task state of the robot; if the task state of the robot is pre-occupied, the robot is scheduled to execute the next task; if the task state of the robot is idle, the robot can continuously execute a plurality of related tasks based on the technical means of distributing the next task for the robot based on the correlation among the unallocated tasks, and the task state of the robot is set, so that the technical problems that the storage work of the robot lacks continuity, the idle time on the way of the robot is increased, the working efficiency is low are solved, the scheduling order is optimized, the storage work continuity of the robot is ensured, the working efficiency of the robot is improved, and the technical effect of the working efficiency in the storage is improved.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic diagram of the main steps of a method of scheduling robots according to an embodiment of the present invention;
fig. 2 is a schematic view of a main flow of a method of scheduling robots according to one referential embodiment of the present invention;
fig. 3 is a flowchart illustrating a parking task of a method of scheduling a robot according to a reference embodiment of the present invention.
Fig. 4 is a flowchart illustrating a boxing task of a method of scheduling robots according to a referential embodiment of the present invention.
Fig. 5 is a schematic flow chart of a transfer task of a method of scheduling robots according to a referential embodiment of the present invention.
Fig. 6 is a schematic flow diagram of a task for unloading of a method of scheduling robots according to a referential embodiment of the present invention.
Fig. 7 is a flowchart illustrating a charging task of a method of scheduling a robot according to a referential embodiment of the present invention.
Fig. 8 is a flowchart of a task of de-buffering bits of a method of scheduling robots according to a referential embodiment of the present invention.
FIG. 9 is a schematic diagram of the main modules of an apparatus for dispatching robots in accordance with an embodiment of the present invention;
FIG. 10 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
fig. 11 is a schematic structural diagram of a computer system suitable for implementing a terminal device or a server according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
It should be noted that the embodiments of the present invention and the technical features of the embodiments may be combined with each other without conflict.
Fig. 1 is a schematic diagram of the main steps of a method of scheduling robots according to an embodiment of the present invention.
As shown in fig. 1, the method for scheduling a robot according to the embodiment of the present invention mainly includes the following steps:
step S101: and acquiring the unallocated tasks and determining the association between the unallocated tasks.
Due to the fact that the storage workload is large, the scheduling system can continuously schedule one robot to execute a plurality of related tasks, namely when one robot executes the current task, other tasks can wait for the robot to execute the current task. Thus, the scheduling system may determine what associations between unassigned tasks are prior to assigning tasks, where an unassigned task may be a boxing task, a handling task, or a discharge task.
Step S102: and when the robot finishes the current task, acquiring the task state of the robot.
In order to avoid that a plurality of robots with related tasks are undertaken and are scheduled to execute other tasks after the current task is completed, the scheduling system adds a task state to each robot, wherein the task state can be determined based on the current task, and the same robot can continuously execute a plurality of related tasks through the task state.
In the embodiment of the present invention, step S103 is executed if the task state of the robot is the pre-emption, and step S104 is executed if the task state of the robot is the idle state.
Step S103: the robot is scheduled to perform the next task.
If the task state of the robot is pre-occupied, it indicates that the robot may have a task associated with the current task (i.e. a next task) to wait for its execution, and at this time, the scheduling system may directly schedule the robot to execute the task associated with the current task, i.e. execute the next task.
Step S104: and allocating the next task for the robot based on the association between the unallocated tasks.
If the task status of the robot is idle, it means that the robot has completed all tasks assigned to it, and may be idle for a next period of time, at which point the scheduling system may assign it a new task, i.e. the next task.
In an embodiment of the present invention, the next task may include a parking task, a boxing task, a transporting task, a discharging task, a cache removal task, or a charging task. Specifically, if the robot has no tasks to execute, the scheduling system may allocate a parking task to the robot; if the number of the tasks is large, after the robot completes all the tasks, the scheduling system can schedule the robot to execute a boxing task, a carrying task or a charging task and the like; if the robot completes the current task and related tasks such as a boxing task, a carrying task or a discharging task need to be executed, the scheduling system can schedule the robot to execute the related tasks such as the boxing task, the carrying task or the discharging task; if the robot is jammed in the roadway, the scheduling system can schedule the robot to execute a task of removing a cache bit, wherein the cache bit is a temporary parking space provided for the robot; if the robot needs to be charged after the current task is finished, the scheduling system can schedule the robot to execute the charging task.
In an embodiment of the present invention, the method for scheduling a robot may further include: if the robot executes the parking task, updating the task state of the robot to be idle; if the robot executes the boxing task, issuing a reaching prompt instruction to the robot when the robot reaches a boxing point, and updating the task state of the robot to be pre-occupied when boxing is finished; if the robot executes the carrying task, issuing a reaching prompt instruction to the robot when the robot reaches a destination point, and updating the task state of the robot into pre-occupation when carrying is completed; and if the robot executes the unloading task, issuing an arrival prompt instruction to the robot when the robot arrives at the unloading point, and updating the task state of the robot to be idle or pre-occupied when unloading is finished.
In the process of executing tasks by the robot, if manual operation is needed after the robot reaches a loading point, a destination point or an unloading point and other workstations, the dispatching system can send an arrival prompt instruction to the robot, and the robot can send a prompt tone or light after receiving the arrival prompt instruction so as to remind an operator of subsequent operation.
In an embodiment of the present invention, the method for scheduling a robot may further include: acquiring the residual electric quantity of the robot at a preset frequency; when the residual electric quantity is less than or equal to a preset value, distributing a charging task for the robot, simultaneously sending a charging point identifier to the robot, and updating the task state of the robot into charging; and when the robot finishes charging, updating the task state of the robot to be idle or pre-occupied.
In order to ensure the normal operation of the robot and the normal operation of the warehousing work, the scheduling system can acquire the residual electric quantity of the robot according to a preset frequency so as to timely distribute a charging task when the robot needs to be charged, wherein if the residual electric quantity of the robot is less than or equal to a preset value in the task executing process, the charging task is executed after the current task is executed if the current task can be completed, and if the current task cannot be completed, the charging task is executed first and then the current task is executed. In addition, because it is relatively closer to fill electric pile, and the robot walking precision may have a certain degree of error, can help the accurate position of charging of finding its butt joint of robot through the point sign that charges, consequently when distributing the task of charging, dispatch system sends the point sign of charging to the robot, and this point sign of charging can be two-dimensional code sign etc. that is used for the location.
In the method for dispatching the robot in the embodiment of the invention, the preset frequency and the preset value can be determined based on actual needs, for example, the residual electric quantity of the robot is obtained every ten minutes; the preset value is set to be a high value, so that the robot is prevented from losing power in the task executing process. In addition, if the number of tasks is large, the scheduling system can also temporarily schedule the robot which is being charged to execute the tasks.
The robot is not limited to a device that obtains power using electric energy, and may be a device that obtains power using fuel, and the remaining amount of electricity may indicate the amount of available power from a battery or the remaining fuel, and the charging may indicate that the robot is charging or replenishing fuel.
In an embodiment of the present invention, the method for scheduling a robot may further include: when the robot cannot enter the roadway, a task of removing the cache bit is allocated to the robot, and the task state of the robot is updated to be pre-occupied.
If the robot encounters tunnel congestion in the process of executing the task, the scheduling system can schedule the robot to go to a temporary parking space and continue to execute the task after the robot can pass through.
In an embodiment of the present invention, the method for scheduling a robot may further include: and carrying out traffic management before the robot executes the next task.
The scheduling system plans which lane to walk and which position to go for the robot before the robot performs the next task, and performs traffic management based on the plans. The traffic management can be to release occupied roadways, parking spaces, buffer positions or unloading points, or to allocate parking spaces or buffer positions for the robots.
According to the method for scheduling the robot, the unallocated tasks are obtained, and the association among the unallocated tasks is determined; when the robot finishes the current task, acquiring the task state of the robot; if the task state of the robot is pre-occupied, the robot is scheduled to execute the next task; if the task state of the robot is idle, the robot can continuously execute a plurality of related tasks based on the technical means of distributing the next task for the robot based on the correlation among the unallocated tasks, and the task state of the robot is set, so that the technical problems that the storage work of the robot lacks continuity, the idle time on the way of the robot is increased, the working efficiency is low are solved, the scheduling order is optimized, the storage work continuity of the robot is ensured, the working efficiency of the robot is improved, and the technical effect of the working efficiency in the storage is improved.
Fig. 2 is a schematic view of a main flow of a method of scheduling robots according to one referential embodiment of the present invention.
As shown in fig. 2, the method for scheduling a robot according to the embodiment of the present invention may be implemented by referring to the following processes:
step S201: the scheduling system determines the association between the unallocated tasks;
the scheduling system may retrieve the unassigned tasks from the workstations in the warehouse and determine what associations there are between the unassigned tasks.
Step S202: the scheduling system acquires the task state of the robot, judges whether the robot completes all tasks, if so, executes step S203, otherwise, executes step S204;
when the robot completes the current task, whether the robot completes all tasks can be judged according to the task state (namely pre-occupation, idle or charging) of the robot, if the task state of the robot is pre-occupation, the robot does not complete all tasks, if the task state of the robot is idle, the robot completes all tasks, if the task state of the robot is charging, both possibilities exist, and after the robot completes the charging, whether the robot completes all tasks can be determined.
Step S203: the scheduling system distributes the next task to the robot;
if the robot has completed all tasks, the scheduling system may assign it a new task, i.e. assign the next task, which may include a parking task, a boxing task, a handling task, a dumping task, a deluge bit task and a charging task.
Step S204: the dispatching system dispatches the robot to execute the next task;
if the robot does not complete all tasks, it indicates that the robot may have tasks (i.e., next tasks) to wait for its execution, and the tasks may have an association with the current task, at which point the scheduling system may schedule the robot to execute the next task by issuing a walk instruction to the robot.
Fig. 3 is a flowchart illustrating a parking task of a method of scheduling a robot according to a reference embodiment of the present invention.
As shown in fig. 3, when assigning a parking task to a robot, the following embodiments may be referred to for the flow of the parking task:
step S301: the dispatching system allocates parking spaces for the robots;
step S302: and the scheduling system updates the task state of the robot to be idle.
Fig. 4 is a flowchart illustrating a boxing task of a method of scheduling robots according to a referential embodiment of the present invention.
As shown in fig. 4, when assigning the boxing task to the robot, the following embodiments may be referred to for the flow of the boxing task:
step S401: when the robot reaches the packing point, sending an arrival message to a dispatching system;
step S402: the dispatching system informs a workstation where the packing point is located;
step S403: the dispatching system issues an arrival prompting instruction to the robot;
step S404: the workstation sends a boxing completion message to the scheduling system when boxing is completed;
step S405: and the scheduling system updates the task state of the robot into pre-occupation.
In practical applications, after the robot completes the boxing task, the robot can perform the transportation task or perform the boxing task again without charging.
Fig. 5 is a schematic flow chart of a transfer task of a method of scheduling robots according to a referential embodiment of the present invention.
As shown in fig. 5, when assigning a transfer task to a robot, the flow of the transfer task may refer to the following embodiments:
step S501: when the robot reaches a destination point, sending an arrival message to a dispatching system;
step S502: the dispatching system informs the workstation of the destination point;
step S503: the dispatching system issues an arrival prompting instruction to the robot;
step S504: and the scheduling system updates the task state of the robot into pre-occupation.
In practical applications, after the robot completes the transportation task, the robot can perform an unloading task, a boxing task, a transportation task again, and the like without charging.
Fig. 6 is a schematic flow diagram of a task for unloading of a method of scheduling robots according to a referential embodiment of the present invention.
As shown in fig. 6, when allocating a task for unloading for a robot, the following embodiments may be referred to for the flow of the task for unloading:
step S601: when the robot reaches the unloading point, sending an arrival message to a dispatching system;
step S602: the dispatching system releases occupied unloading points;
step S603: the dispatching system informs the unloading point of the workstation;
step S604: the dispatching system issues an arrival prompting instruction to the robot;
step S605: and the scheduling system updates the task state of the robot to be pre-occupied or idle.
In practical applications, after the robot completes the unloading task, other tasks, a boxing task or a unloading task can be executed again without charging.
Fig. 7 is a flowchart illustrating a charging task of a method of scheduling a robot according to a referential embodiment of the present invention.
As shown in fig. 7, the scheduling system may obtain the remaining power of the robot at a preset frequency, and allocate a charging task to the robot when the remaining power is less than or equal to a preset value, where the following embodiments may be referred to for a flow of the charging task:
step S701: the dispatching system inquires a charging point identifier of a charging position;
step S702: the scheduling system updates the task state of the robot into charging;
step S703: and when the robot finishes charging, the scheduling system updates the task state of the robot to be idle or pre-occupied.
Fig. 8 is a flowchart of a task of de-buffering bits of a method of scheduling robots according to a referential embodiment of the present invention.
As shown in fig. 8, when the robot cannot enter the lane, the robot may be assigned with a task of cache bit removal, and the following embodiments may be referred to for the flow of the task of cache bit removal:
step S801: the scheduling system allocates cache bits for the robot;
step S802: and the scheduling system updates the task state of the robot into pre-occupation.
Step S804: and the dispatching system releases the occupied laneways.
Fig. 9 is a schematic diagram of main blocks of an apparatus for scheduling robots according to an embodiment of the present invention.
As shown in fig. 9, an apparatus 900 for scheduling a robot according to an embodiment of the present invention includes: an association module 901, an acquisition module 902, a scheduling module 903, and an allocation module 904.
Wherein the content of the first and second substances,
an association module 901, configured to obtain unallocated tasks and determine an association between the unallocated tasks;
an obtaining module 902, configured to obtain a task state of the robot when the robot completes a current task; wherein the task state is determined based on the current task;
a scheduling module 903, configured to schedule the robot to execute a next task when the task state of the robot is pre-occupied;
and an allocating module 904, configured to, when the task state of the robot is idle, allocate a next task to the robot based on the association between the unassigned tasks.
In an embodiment of the present invention, the next task may include a parking task, a boxing task, a handling task, or a discharging task.
The apparatus 900 may further include a first updating module (not shown) configured to: when the robot executes the parking task, updating the task state of the robot to be idle; when the robot executes the boxing task, issuing a reaching prompt instruction to the robot when the robot reaches a boxing point, and updating the task state of the robot to be pre-occupied when boxing is finished; when the robot executes the carrying task, issuing a reaching prompt instruction to the robot when the robot reaches a destination point, and updating the task state of the robot into pre-occupation when carrying is completed; and when the robot executes the unloading task, issuing an arrival prompt instruction to the robot when the robot arrives at the unloading point, and updating the task state of the robot to be idle or pre-occupied when unloading is finished.
In an embodiment of the present invention, the next task may further include a charging task.
The apparatus 900 may further include a second updating module (not shown) configured to: acquiring the residual electric quantity of the robot at a preset frequency; when the residual electric quantity is smaller than or equal to a preset value, distributing the charging task for the robot, simultaneously sending a charging point identifier to the robot, and updating the task state of the robot into charging; and when the robot finishes charging, updating the task state of the robot to be idle or pre-occupied.
In embodiments of the present invention, the next task may also include a cache bits removal task.
The apparatus 900 may further include a third updating module (not shown) configured to: and when the robot cannot enter the roadway, allocating the cache bit removal task for the robot, and updating the task state of the robot into pre-occupation.
Furthermore, the apparatus 900 may further include a request module (not shown) configured to: carrying out traffic management before the robot executes the next task; the traffic management comprises the steps of releasing occupied roadways, releasing occupied parking spaces, releasing occupied cache positions, releasing occupied unloading points, and allocating parking spaces or cache positions.
According to the device for dispatching the robot, which is disclosed by the embodiment of the invention, the unallocated tasks are obtained, and the association among the unallocated tasks is determined; when the robot finishes the current task, acquiring the task state of the robot; if the task state of the robot is pre-occupied, the robot is scheduled to execute the next task; if the task state of the robot is idle, the robot can continuously execute a plurality of related tasks based on the technical means of distributing the next task for the robot based on the correlation among the unallocated tasks, and the task state of the robot is set, so that the technical problems that the storage work of the robot lacks continuity, the idle time on the way of the robot is increased, the working efficiency is low are solved, the scheduling order is optimized, the storage work continuity of the robot is ensured, the working efficiency of the robot is improved, and the technical effect of the working efficiency in the storage is improved.
Fig. 10 shows an exemplary system architecture 1000 of a method of scheduling robots or an apparatus for scheduling robots to which embodiments of the present invention may be applied.
As shown in fig. 10, the system architecture 1000 may include terminal devices 1001, 1002, 1003, a network 1004, and a server 1005. The network 1004 is used to provide a medium for communication links between the terminal devices 1001, 1002, 1003 and the server 1005. Network 1004 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.
A user may use the terminal devices 1001, 1002, 1003 to interact with a server 1005 via a network 1004 to receive or transmit messages or the like. Various communication client applications may be installed on the terminal devices 1001, 1002, 1003.
The terminal devices 1001, 1002, 1003 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 1005 may be a server that provides various services. The background management server can analyze and process the received data such as the product information inquiry request and feed back the processing result to the terminal equipment.
It should be noted that the method for scheduling a robot according to the embodiment of the present invention is generally executed by the server 1005, and accordingly, the apparatus for scheduling a robot is generally disposed in the server 1005.
It should be understood that the number of terminal devices, networks, and servers in fig. 10 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 11, shown is a block diagram of a computer system 1100 suitable for use with a terminal device implementing an embodiment of the present invention. The terminal device shown in fig. 11 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 11, the computer system 1100 includes a Central Processing Unit (CPU)1101, which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)1102 or a program loaded from a storage section 1108 into a Random Access Memory (RAM) 1103. In the RAM 1103, various programs and data necessary for the operation of the system 1100 are also stored. The CPU 1101, ROM 1102, and RAM 1103 are connected to each other by a bus 1104. An input/output (I/O) interface 1105 is also connected to bus 1104.
The following components are connected to the I/O interface 1105: an input portion 1106 including a keyboard, mouse, and the like; an output portion 1107 including a signal output unit such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 1108 including a hard disk and the like; and a communication section 1109 including a network interface card such as a LAN card, a modem, or the like. The communication section 1109 performs communication processing via a network such as the internet. A driver 1110 is also connected to the I/O interface 1105 as necessary. A removable medium 1111 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1110 as necessary, so that a computer program read out therefrom is mounted into the storage section 1108 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication portion 1109 and/or installed from the removable medium 1111. The above-described functions defined in the system of the present invention are executed when the computer program is executed by a Central Processing Unit (CPU) 1101.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes an association module, an acquisition module, a scheduling module, and an allocation module. The names of these modules do not in some cases constitute a limitation on the module itself, for example, the association module may also be described as a "module that obtains unallocated tasks and determines an association between the unallocated tasks".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise: step S101: acquiring unallocated tasks and determining the association between the unallocated tasks; step S102: when the robot finishes the current task, acquiring the task state of the robot; step S103: the robot is dispatched to execute the next task; step S104: and allocating the next task for the robot based on the association between the unallocated tasks.
According to the technical scheme of the embodiment of the invention, the unallocated tasks are obtained, and the association between the unallocated tasks is determined; when the robot finishes the current task, acquiring the task state of the robot; if the task state of the robot is pre-occupied, the robot is scheduled to execute the next task; if the task state of the robot is idle, the robot can continuously execute a plurality of related tasks based on the technical means of distributing the next task for the robot based on the correlation among the unallocated tasks, and the task state of the robot is set, so that the technical problems that the storage work of the robot lacks continuity, the idle time on the way of the robot is increased, the working efficiency is low are solved, the scheduling order is optimized, the storage work continuity of the robot is ensured, the working efficiency of the robot is improved, and the technical effect of the working efficiency in the storage is improved.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A method of scheduling a robot, comprising:
acquiring unallocated tasks and determining the association between the unallocated tasks;
when the robot finishes the current task, acquiring the task state of the robot; wherein the task state is determined based on the current task;
if the task state of the robot is pre-occupied, the robot is scheduled to execute the next task;
and if the task state of the robot is idle, distributing the next task for the robot based on the association between the unallocated tasks.
2. The method of claim 1, wherein the next task comprises a parking task, a boxing task, a handling task, or a discharge task; and
the method further comprises the following steps:
if the robot executes the parking task, updating the task state of the robot to be idle;
if the robot executes the boxing task, issuing a reaching prompt instruction to the robot when the robot reaches a boxing point, and updating the task state of the robot to be pre-occupied when boxing is finished;
if the robot executes the carrying task, issuing a reaching prompt instruction to the robot when the robot reaches a destination point, and updating the task state of the robot to be pre-occupied when carrying is completed;
and if the robot executes the unloading task, issuing an arrival prompt instruction to the robot when the robot arrives at an unloading point, and updating the task state of the robot to be idle or pre-occupied when unloading is finished.
3. The method of claim 2, wherein the next task further comprises a charging task; and
the method further comprises the following steps:
acquiring the residual electric quantity of the robot at a preset frequency;
when the residual electric quantity is smaller than or equal to a preset value, distributing the charging task for the robot, simultaneously sending a charging point identifier to the robot, and updating the task state of the robot into charging; and
and when the robot finishes charging, updating the task state of the robot into idle state or pre-occupied state.
4. The method of claim 2, wherein the next task further comprises a cache bits removal task, and wherein
The method further comprises the following steps:
and when the robot cannot enter the roadway, allocating the cache bit removal task for the robot, and updating the task state of the robot into pre-occupation.
5. The method of claim 4, further comprising:
carrying out traffic management before the robot executes the next task; the traffic management comprises the steps of releasing occupied roadways, releasing occupied parking spaces, releasing occupied cache positions, releasing occupied unloading points, and allocating parking spaces or cache positions.
6. An apparatus for scheduling a robot, comprising:
the correlation module is used for acquiring the unallocated tasks and determining the correlation between the unallocated tasks;
the acquisition module is used for acquiring the task state of the robot when the robot finishes the current task; wherein the task state is determined based on the current task;
the scheduling module is used for scheduling the robot to execute the next task when the task state of the robot is pre-occupied;
and the allocation module is used for allocating the next task to the robot based on the association between the unallocated tasks when the task state of the robot is idle.
7. The apparatus of claim 6, wherein the next task comprises a parking task, a boxing task, a handling task, or a discharge task; and
the apparatus also includes a first update module to:
when the robot executes the parking task, updating the task state of the robot to be idle;
when the robot executes the boxing task, issuing a reaching prompt instruction to the robot when the robot reaches a boxing point, and updating the task state of the robot to be pre-occupied when boxing is finished;
when the robot executes the carrying task, issuing a reaching prompt instruction to the robot when the robot reaches a destination point, and updating the task state of the robot into pre-occupation when carrying is completed;
and when the robot executes the unloading task, issuing an arrival prompt instruction to the robot when the robot arrives at the unloading point, and updating the task state of the robot to be idle or pre-occupied when unloading is finished.
8. The apparatus of claim 7, wherein the next task further comprises a charging task; and
the apparatus also includes a second update module to:
acquiring the residual electric quantity of the robot at a preset frequency;
when the residual electric quantity is smaller than or equal to a preset value, distributing the charging task for the robot, simultaneously sending a charging point identifier to the robot, and updating the task state of the robot into charging; and
and when the robot finishes charging, updating the task state of the robot into idle state or pre-occupied state.
9. The apparatus of claim 7, wherein the next task further comprises a cache bits removal task, and wherein
The apparatus further comprises a third update module to:
and when the robot cannot enter the roadway, allocating the cache bit removal task for the robot, and updating the task state of the robot into pre-occupation.
10. The apparatus of claim 9, further comprising a request module configured to:
carrying out traffic management before the robot executes the next task; the traffic management comprises the steps of releasing occupied roadways, releasing occupied parking spaces, releasing occupied cache positions, releasing occupied unloading points, and allocating parking spaces or cache positions.
11. An electronic device for scheduling a robot, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.
12. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-5.
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